相关论文: Visual Perspective Taking for Opponent Behavior Mo…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

This work presents a methodology for modeling and predicting human behavior in settings with N humans interacting in highly multimodal scenarios (i.e. where there are many possible highly-distinct futures). A motivating example includes…

We propose to leverage a real-world, human activity RGB dataset to teach a robot Task-Oriented Grasping (TOG). We develop a model that takes as input an RGB image and outputs a hand pose and configuration as well as an object pose and a…

The ability to accurately predict the surrounding environment is a foundational principle of intelligence in biological and artificial agents. In recent years, a variety of approaches have been proposed for learning to predict the physical…

Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…

In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…

Learning from visual data opens the potential to accrue a large range of manipulation behaviors by leveraging human demonstrations without specifying each of them mathematically, but rather through natural task specification. In this paper,…

Humans with an average level of social cognition can infer the beliefs of others based solely on the nonverbal communication signals (e.g. gaze, gesture, pose and contextual information) exhibited during social interactions. This social…

In this paper we address the problem of visual reaction: the task of interacting with dynamic environments where the changes in the environment are not necessarily caused by the agent itself. Visual reaction entails predicting the future…

We investigate the ability of Vision Language Models (VLMs) to perform visual perspective taking using a new set of visual tasks inspired by established human tests. Our approach leverages carefully controlled scenes in which a single…

Predicting the outcomes of robotic actions, often referred to as learning a world model, in complex environments remains a fundamental challenge in robotics. Existing approaches primarily rely on visual observations and action inputs to…

Goal-driven mobile robot navigation in map-less environments requires effective state representations for reliable decision-making. Inspired by the favorable properties of Bird's-Eye View (BEV) in point clouds for visual perception, this…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen scenes, we develop an approach for learning visual…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…

Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…